CN107202596A - A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy - Google Patents
A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy Download PDFInfo
- Publication number
- CN107202596A CN107202596A CN201710317154.7A CN201710317154A CN107202596A CN 107202596 A CN107202596 A CN 107202596A CN 201710317154 A CN201710317154 A CN 201710317154A CN 107202596 A CN107202596 A CN 107202596A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- imu
- rotation
- rotated
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
Rotated and rotating shaft control strategy the present invention relates to a kind of twin shaft IMU of dynamic compensation, its technical characterstic is to comprise the following steps：Step 1, inertial navigation equipment power-up initializing and coarse alignment；Step 2, twin shaft symmetrical rotary modulation fine alignment simultaneously control rotating shaft to rotate；Step 3, output fine alignment result.The present invention is reasonable in design, the twin shaft IMU for realizing dynamic compensation is rotated and rotating shaft control strategy function, the more preferable purpose for having reached the rotation modulation of full symmetric formula and having played modulation effect, it can further suppress the effect of twin shaft inertial navigation error diverging again while twin shaft inertial navigation dynamic modulation stability is improved, the navigation accuracy, equipment integral mechanical structure and cost of inertial navigation system can be directly influenced.
Description
Technical field
The invention belongs to technical field of inertial, especially a kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control
Strategy.
Background technology
In inertial navigation set, pure inertial navigation equipment navigation accuracy dissipates with the time, and single-shaft-rotation inertial navigation
Equipment is rotated due to only one of which axle, can only modulate the influence of sub-fraction error, the suppression to inertial navigation divergent navigation errors
Effect is than relatively limited, and twin shaft inertial navigation equipment has two axles to rotate simultaneously, then is equipped with certain rotation sequence, can be with
The influence of most of inertia component error is fallen in modulation.Rational twin shaft IMU rotation sequences can not only balance out part inertia
Element constant value drift error, and the inertance element such as installation position error, constant multiplier error can be reduced under carrier movement
Produced navigation error；And irrational indexable order can cause the continuous increase of navigation error and eventually affect inertial navigation
The overall precision and performance of system, therefore, selection is rationally under the preceding topic of indexable order scheme, and the rotation modulation of dynamic compensation in real time is missed
Difference is also to improve the effective measures of navigation accuracy.At present according to actual use situation, the formulation of rotation approach probably has two kinds, one
It is inner orientation rotary background, two be exterior orientation rotary background, but the motion countershaft rotation of carrier is all have ignored under two schemes
During modulate symmetry influence so that modulation compensated effect is not fully exerted.
The content of the invention
Rotate and turn it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of twin shaft IMU of dynamic compensation
Axle control strategy, can reach full symmetric rotation modulation and make the performance of modulation effect more perfect.
The present invention solves existing technical problem and takes following technical scheme to realize：
A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy, is comprised the following steps：
Step 1, inertial navigation equipment power-up initializing and coarse alignment；
Step 2, twin shaft symmetrical rotary modulation fine alignment simultaneously control rotating shaft to rotate；
Step 3, output fine alignment result.
The step 1 comprises the following steps：
(1) electric on inertial navigation equipment, azimuth axis and trunnion axis are by default control instruction rotation to respective zero-bit；
(2) initial position is bound, coarse alignment process is completed by default coarse alignment scheme, obtains coarse alignment result.
The step 2 comprises the following steps：
(1) inertial navigation enters the fine alignment stage, and line period is entered with eight order or 16 order scheme control azimuth axles and rotary shaft
The rotation of property；
(2) judge whether to reach new control indexing, be then to be rotated according to new transposition control rotating shaft；
(3) judge whether to reach output alignment result opportunity, be then to enter step 3, otherwise return to step (2) circular treatment.
It is described control rotating shaft rotate method be：In rotating shaft rotary course, if initial corner is γ0, course angle is
When course angle is γ in the IMU that inertial reference calculation is run into rotating shaft rotary course0When+180, corner is γ1, into next rotation time
Sequence；During whole rotation modulation, it is assumed that carrier has carried out three-dimensional motion, it is assumed that carrier course there occurs Δ γ sizes
Change, the anglec of rotation now should be γ1=γ0+ 180+ Δ γ, rotation control is carried out in the way of controlling rotating shaft single direction rotation
System, whether course angle reaches in detection IMU in real timeIf reaching the Angle Position, next indexable unidirectional rotation is sent
Turn control instruction.
Advantages and positive effects of the present invention are：
The twin shaft IMU that the present invention realizes dynamic compensation is rotated and rotating shaft control strategy function, has reached full symmetric formula
Rotation modulation and make modulation effect play more preferable purpose, improve twin shaft inertial navigation dynamic modulation stability while again energy
Enough effects for further suppressing the diverging of twin shaft inertial navigation error, can directly influence navigation accuracy, the equipment of inertial navigation system
Integral mechanical structure and cost.
Brief description of the drawings
Fig. 1 is handling process of the invention；
Fig. 2 is control rotating shaft fixed point rotary control schematic diagram；
Fig. 3 is course angle rotation control schematic diagram in the IMU of the present invention；
Embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing：
A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy, as shown in figure 1, comprising the following steps：
Step 1, inertial navigation equipment power-up initializing.
(1) electric on inertial navigation equipment, two rotating shafts (azimuth axis and trunnion axis) are by default control instruction rotation to respective zero
Position；
(2) initial position is bound, coarse alignment process is completed by default coarse alignment scheme, obtains coarse alignment result.
Step 2, twin shaft symmetrical rotary modulation fine alignment simultaneously control rotating shaft to rotate.
(1) inertial navigation enters the fine alignment stage, starts periodically to be rotated with the scheme such as eight order or 16 order；
(2) new control indexing whether is reachedIt is then to be rotated according to new transposition control rotating shaft；
(3) judge whether to reach output alignment result opportunity, be then to enter step 3, otherwise return to step (2) circulation is held
OK.
In two rotating shaft rotary courses, by taking azimuth axis as an example, if initial corner is γ0, course angle isWhen rotating shaft rotation
It is γ that course angle in the IMU of inertial reference calculation is run into during turning0When+180, corner is γ1, control to enter next rotation sequence, water
Flat direction of principal axis is similar with azimuth axis.During whole rotation modulation, it is assumed that carrier has carried out three-dimensional motion, using course as
Example, it is assumed that carrier course there occurs Δ γ size variations, so the anglec of rotation now should be γ1=γ0+ 180+ Δ γ,
But rotation modulation is carried out in the way of controlling rotating shaft fixed point rotary and is not appropriate for high dynamic carrier, so should be to control rotating shaft
The mode of single direction rotation carries out rotation control, because carrier high dynamic characteristic, it should which whether course angle arrives in detection IMU in real time
ReachIf reaching the Angle Position, next indexable single direction rotation control instruction is sent, and so on, trunnion axis is also
In this way, two kinds of rotating shaft control modes are as shown in Figures 2 and 3.
Step 3, output fine alignment result.
According to inertial navigation equipment actual requirement, rotation sequence is modulated with reference to dual-axis rotation, to select whole order all to rotate
Into time export alignment result.
The present invention is implemented in land with twin shaft inertial navigation equipment, is successfully realized the dynamic compensation method of twin shaft IMU rotations, is reached
The rotation modulation of full symmetric formula is arrived, the more preferable purpose for playing the effect of modulation, while improving twin shaft inertial navigation dynamic
The stability of modulation, the satisfaction for being capable of bigizationner suppresses the application demand of twin shaft inertial navigation error diverging.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
Include and be not limited to embodiment described in embodiment, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Claims (4)
1. a kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy, it is characterised in that comprised the following steps：
Step 1, inertial navigation equipment power-up initializing and coarse alignment；
Step 2, twin shaft symmetrical rotary modulation fine alignment simultaneously control rotating shaft to rotate；
Step 3, output fine alignment result.
2. a kind of twin shaft IMU of dynamic compensation according to claim 1 is rotated and rotating shaft control strategy, it is characterised in that：
The step 1 comprises the following steps：
(1) electric on inertial navigation equipment, azimuth axis and trunnion axis are by default control instruction rotation to respective zero-bit；
(2) initial position is bound, coarse alignment process is completed by default coarse alignment scheme, obtains coarse alignment result.
3. a kind of twin shaft IMU of dynamic compensation according to claim 1 is rotated and rotating shaft control strategy, it is characterised in that：
The step 2 comprises the following steps：
(1) inertial navigation enters the fine alignment stage, is carried out with eight order or 16 order scheme control azimuth axles and rotary shaft periodic
Rotation；
(2) judge whether to reach new control indexing, be then to be rotated according to new transposition control rotating shaft；
(3) judge whether to reach output alignment result opportunity, be then to enter step 3, otherwise return to step (2) circular treatment.
4. a kind of twin shaft IMU of dynamic compensation according to claim 1 is rotated and rotating shaft control strategy, it is characterised in that：
It is described control rotating shaft rotate method be：In rotating shaft rotary course, if initial corner is γ0, course angle isWhen rotating shaft rotation
It is γ that course angle in the IMU of inertial reference calculation is run into during turning0When+180, corner is γ1, into next rotation sequence；Whole
During rotation modulation, it is assumed that carrier has carried out three-dimensional motion, it is assumed that carrier course there occurs Δ γ size variations, now
The anglec of rotation should be γ1=γ0+ 180+ Δ γ, rotation control is carried out in the way of controlling rotating shaft single direction rotation, in real time inspection
Survey whether course angle in IMU reachesIf reaching the Angle Position, send next indexable single direction rotation control and refer to
Order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710317154.7A CN107202596A (en) | 2017-05-08 | 2017-05-08 | A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710317154.7A CN107202596A (en) | 2017-05-08 | 2017-05-08 | A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107202596A true CN107202596A (en) | 2017-09-26 |
Family
ID=59906005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710317154.7A Pending CN107202596A (en) | 2017-05-08 | 2017-05-08 | A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107202596A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111102993A (en) * | 2019-12-31 | 2020-05-05 | 中国人民解放军战略支援部队航天工程大学 | Initial alignment method for shaking base of rotary modulation type strapdown inertial navigation system |
| CN112179340A (en) * | 2020-10-10 | 2021-01-05 | 中国人民解放军战略支援部队航天工程大学 | Double-shaft rotation modulation method for redundancy configuration inertia measurement unit |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749079A (en) * | 2012-04-09 | 2012-10-24 | 北京自动化控制设备研究所 | Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism |
| CN103453917A (en) * | 2013-09-04 | 2013-12-18 | 哈尔滨工程大学 | Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system |
| CN103575300A (en) * | 2013-11-13 | 2014-02-12 | 北京理工大学 | Rotating modulation-based rocking base inertial navigation system coarse alignment method |
| CN103575276A (en) * | 2013-11-13 | 2014-02-12 | 北京理工大学 | Initial alignment model reduction method for biaxial rotation inertial navigation system |
| US20140350881A1 (en) * | 2013-05-21 | 2014-11-27 | DigiPas USA, LLC | Angle measuring device and methods for calibration |
-
2017
- 2017-05-08 CN CN201710317154.7A patent/CN107202596A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749079A (en) * | 2012-04-09 | 2012-10-24 | 北京自动化控制设备研究所 | Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism |
| US20140350881A1 (en) * | 2013-05-21 | 2014-11-27 | DigiPas USA, LLC | Angle measuring device and methods for calibration |
| CN103453917A (en) * | 2013-09-04 | 2013-12-18 | 哈尔滨工程大学 | Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system |
| CN103575300A (en) * | 2013-11-13 | 2014-02-12 | 北京理工大学 | Rotating modulation-based rocking base inertial navigation system coarse alignment method |
| CN103575276A (en) * | 2013-11-13 | 2014-02-12 | 北京理工大学 | Initial alignment model reduction method for biaxial rotation inertial navigation system |
Non-Patent Citations (2)
| Title |
|---|
| 孙枫等: "摇摆基座下旋转捷联系统粗对准技术研究", 《仪器仪表学报》 * |
| 许永飞: "车载旋转惯导系统定位定向技术研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111102993A (en) * | 2019-12-31 | 2020-05-05 | 中国人民解放军战略支援部队航天工程大学 | Initial alignment method for shaking base of rotary modulation type strapdown inertial navigation system |
| CN112179340A (en) * | 2020-10-10 | 2021-01-05 | 中国人民解放军战略支援部队航天工程大学 | Double-shaft rotation modulation method for redundancy configuration inertia measurement unit |
| CN112179340B (en) * | 2020-10-10 | 2022-06-07 | 中国人民解放军战略支援部队航天工程大学 | Redundant configuration inertia measurement unit double-axis rotation modulation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103913168B (en) | A kind of Double-shaft rotary SINS transposition method | |
| CN109625334B (en) | Satellite momentum wheel on-orbit attitude deviation-free rotation starting and rotation eliminating control method | |
| CN107860273B (en) | It is a kind of that the period is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet | |
| CN107202596A (en) | A kind of twin shaft IMU of dynamic compensation is rotated and rotating shaft control strategy | |
| CN102591349B (en) | No-gyroscope sun capture control method of high orbit satellite large initial angular rate condition | |
| CN106767806B (en) | A kind of physical platform for hybrid inertial navigation system | |
| CN106154232B (en) | A kind of continuous wave three-dimensional radar angle measurement posture compensation method | |
| CN103950556A (en) | Planet steady state controlling method replacing momentum wheels with control moment gyroscope | |
| CN104724301B (en) | A kind of satellite attitude control method being exchanged based on globular motor Three Degree Of Freedom momentum | |
| CN106023207B (en) | It is a kind of to be enjoyed a double blessing the Municipal Component acquisition method of scape based on traverse measurement system | |
| CN109649691B (en) | Single flywheel and magnetic combined control method and system for offset momentum satellite | |
| CN107783422A (en) | Using the gun laying systems stabilisation control method of inertial navigation | |
| CN105115508A (en) | Post data-based rotary guided projectile quick air alignment method | |
| CN105180728A (en) | Front data based rapid air alignment method of rotary guided projectiles | |
| CN103523243A (en) | Non-biased momentum single-flywheel magnetizing control method | |
| CN111624878A (en) | Integral sliding mode obtaining method and system for autonomous water surface robot trajectory tracking | |
| CN110228605A (en) | It is a kind of based on the safety satellite of sun sensor to day control method | |
| CN104880182B (en) | One kind is based on biaxial rotated lasergyro combined error coefficient separation method | |
| CN102214853B (en) | Four-axis frame antenna stabilization system and quick start method thereof | |
| CN102221364B (en) | Single-axis rotation type strapdown inertial navigation system transposition method | |
| CN105508829B (en) | A kind of framework photoelectric platform inside casing frame mechanism of two axle four | |
| CN107063309A (en) | A kind of rotation type strapdown inertial navigation gyro Calibration errors compensation policy | |
| CN108759859A (en) | MEMS inertial navigations are applied to the anti-revisionist correction method of communication in moving | |
| RU2414392C1 (en) | Method of spacecraft axes orientation in solar orbital coordinate system | |
| CN109959390A (en) | A kind of installation deviation compensation method of rotation modulation system two-position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170926 |
|
| RJ01 | Rejection of invention patent application after publication |